version: 66.06
glider: 148
mission: 11
dive: 252
start: 7 15 112 23 5 13
data:
$ID,148
$MISSION,11
$DIVE,252
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,200
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52645
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-923657.88
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3340
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1540
$C_ROLL_CLIMB,1380
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,76
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2920
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.834597
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043980083
$SEABIRD_T_H,0.00063964876
$SEABIRD_T_I,2.5234789e-05
$SEABIRD_T_J,2.6622849e-06
$SEABIRD_C_G,-10.107907
$SEABIRD_C_H,1.1475029
$SEABIRD_C_I,-0.0021076966
$SEABIRD_C_J,0.00024514741
$GPS1,225300,2259.618,-15800.290,63,1.5,63,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-74.2
$GPS2,230419,2259.644,-15800.442,9,1.6,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.164,-0.201
$KALMAN_X,13356.4,-342.3,-109.4,-14066.5,-968.8
$KALMAN_Y,10112.5,-131.0,-273.8,11853.6,1404.5
$MHEAD_RNG_PITCHd_Wd,130.7,54930,-17.5,-10.000
$D_GRID,600
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-66.90,0.000,2,0.000,0.000,412,1548,3064,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.2,-4.5,9,123,13.77,2.30,-8.65,0.000,4,0.152,0.052,3057,166,3518,0,0,0,0,0,0
$GC,182,-0.95,-146.0,26.0,-21.4,22,190,0.30,2.10,0.00,0.000,6,0.087,0.018,3127,1515,3519,0,0,0,0,0,0
$GC,455,-0.80,-146.0,69.5,-15.2,48,460,0.17,2.55,0.00,0.000,4,0.107,0.025,3164,3114,3520,0,0,0,0,0,0
$GC,522,-0.96,-146.0,77.6,-8.6,53,527,0.15,2.55,0.00,0.000,6,0.052,0.028,3093,1539,3520,0,0,0,0,0,0
$GC,791,-0.77,-146.0,114.2,-14.3,77,798,0.35,0.00,0.00,0.000,6,0.087,0.000,3173,1539,3521,0,0,0,0,0,0
$GC,1056,-0.88,-146.0,139.6,-9.4,102,1061,0.12,2.50,0.00,0.000,4,0.063,0.024,3108,3108,3522,0,0,0,0,0,0
$GC,1116,-0.88,-146.0,146.5,-11.4,107,1121,0.17,2.50,0.00,0.000,6,0.091,0.028,3147,1553,3522,0,0,0,0,0,0
$GC,1379,-0.95,-146.0,173.8,-9.4,131,1383,0.00,2.45,0.00,0.000,4,0.000,0.024,3147,3115,3523,0,0,0,0,0,0
$GC,1415,-1.10,-146.0,177.2,-8.3,134,1420,0.20,2.50,0.00,0.000,6,0.041,0.028,3068,1561,3523,0,0,0,0,0,0
$GC,1676,-0.91,-146.0,212.6,-13.8,152,1681,0.30,2.28,0.00,0.000,4,0.090,0.041,3138,163,3523,0,0,0,0,0,0
$GC,1738,-1.05,-146.0,219.8,-9.1,153,1742,0.12,2.10,0.00,0.000,6,0.062,0.018,3068,1559,3523,0,0,0,0,0,0
$GC,2007,-0.90,-146.0,253.3,-13.0,160,2012,0.30,2.42,0.00,0.000,4,0.088,0.024,3138,3106,3523,0,0,0,0,0,0
$GC,2043,-1.06,-146.0,256.7,-8.6,160,2048,0.12,2.50,0.00,0.000,6,0.060,0.029,3073,1552,3523,0,0,0,0,0,0
$GC,2293,-0.97,-146.0,284.0,-10.7,166,2295,0.25,0.00,0.00,0.000,6,0.086,0.000,3129,1552,3523,0,0,0,0,0,0
$GC,2538,-1.06,-146.0,302.1,-7.1,172,2542,0.00,2.47,0.00,0.000,4,0.000,0.028,3129,3097,3523,0,0,0,0,0,0
$GC,2558,-1.15,-146.0,303.8,-8.2,172,2563,0.17,2.50,0.00,0.000,6,0.047,0.031,3033,1552,3523,0,0,0,0,0,0
$GC,2823,-0.93,-146.0,338.6,-13.6,179,2828,0.45,2.30,0.00,0.000,4,0.085,0.051,3130,174,3523,0,0,0,0,0,0
$GC,2848,-0.93,-146.0,341.7,-10.6,179,2852,0.00,2.12,0.00,0.000,6,0.000,0.022,3130,1538,3523,0,0,0,0,0,0
$GC,3112,-1.05,-146.0,362.4,-7.8,186,3117,0.00,2.53,0.00,0.000,4,0.000,0.032,3130,3119,3522,0,0,0,0,0,0
$GC,3150,-1.26,-146.0,365.3,-6.8,186,3157,0.25,2.55,0.00,0.000,6,0.033,0.035,3029,1564,3521,0,0,0,0,0,0
$GC,3402,-1.07,-146.0,397.0,-13.0,193,3407,0.30,2.35,0.00,0.000,4,0.097,0.059,3099,164,3520,0,0,0,0,0,0
$GC,3426,-1.07,-146.0,400.3,-11.9,193,3430,0.00,2.20,0.00,0.000,6,0.000,0.025,3099,1561,3520,0,0,0,0,0,0
$GC,3690,-1.07,-146.0,426.4,-9.8,200,3694,0.00,2.50,0.00,0.000,4,0.000,0.036,3099,3113,3518,0,0,0,0,0,0
$GC,3706,-1.07,-146.0,427.9,-10.0,200,3710,0.00,2.55,0.00,0.000,6,0.000,0.035,3098,1562,3518,0,0,0,0,0,0
$GC,3974,-1.07,-146.0,453.6,-9.5,207,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1561,3516,0,0,0,0,0,0
$GC,4218,-1.07,-146.0,474.8,-8.5,213,4222,0.00,2.38,0.00,0.000,4,0.000,0.069,3098,166,3514,0,0,0,0,0,0
$GC,4252,-1.07,-146.0,477.8,-8.4,213,4257,0.00,2.20,0.00,0.000,6,0.000,0.029,3099,1553,3514,0,0,0,0,0,0
$GC,4503,-1.07,-146.0,497.5,-7.8,219,4507,0.00,2.55,0.00,0.000,4,0.000,0.041,3099,3117,3512,0,0,0,0,0,0
$GC,4540,-1.20,-146.0,500.5,-7.8,219,4546,0.00,2.58,0.00,0.000,6,0.000,0.040,3099,1567,3512,0,0,0,0,0,0
$GC,4792,-1.20,-146.0,519.3,-7.5,226,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1567,3511,0,0,0,0,0,0
$GC,5035,-1.27,-146.0,537.5,-7.5,232,5040,0.15,2.45,0.00,0.000,4,0.054,0.076,3030,170,3509,0,0,0,0,0,0
$GC,5054,-1.19,-146.0,539.5,-10.0,232,5059,0.22,2.25,0.00,0.000,6,0.097,0.031,3078,1562,3509,0,0,0,0,0,0
$GC,5321,-1.19,-146.0,562.7,-8.7,239,5325,0.00,2.60,0.00,0.000,4,0.000,0.045,3078,3125,3507,0,0,0,0,0,0
$GC,5349,-1.19,-146.0,565.3,-8.5,239,5354,0.00,2.60,0.00,0.000,6,0.000,0.044,3078,1570,3507,0,0,0,0,0,0
$GC,5604,-1.19,-146.0,586.4,-8.3,246,5608,0.00,2.45,0.00,0.000,4,0.000,0.077,3078,166,3505,0,0,0,0,0,0
$GC,5634,-1.19,-146.0,589.1,-9.4,246,5638,0.00,2.28,0.00,0.000,6,0.000,0.034,3078,1566,3505,0,0,0,0,0,0
$STATE,5763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5764,begin apogee
$GC,5770,-0.31,0.0,601.0,9.0,250,5891,0.85,0.00,117.88,0.930,6,0.083,0.000,3269,1372,2920,0,0,0,0,0,0
$STATE,5892,end apogee,CONTROL_FINISHED_OK
$STATE,5892,begin climb
$GC,5896,1.27,146.0,605.6,0.0,253,6030,1.48,2.15,123.72,0.910,4,0.049,0.077,3615,178,2323,0,0,0,0,0,0
$GC,6269,0.95,146.0,576.0,12.4,261,6274,0.32,1.98,0.00,0.000,6,0.103,0.028,3548,1394,2316,0,0,0,0,0,0
$GC,6538,1.01,196.8,554.8,7.7,268,6585,0.00,0.00,44.47,0.875,6,0.000,0.000,3548,1394,2117,0,0,0,0,0,0
$GC,6823,1.02,205.8,528.4,9.6,275,6834,0.00,0.00,8.55,0.742,6,0.000,0.000,3547,1394,2080,0,0,0,0,0,0
$GC,7067,1.02,207.5,504.6,9.9,281,7071,0.00,2.12,0.00,0.000,4,0.000,0.065,3547,174,2076,0,0,0,0,0,0
$GC,7154,1.02,207.5,495.2,10.7,282,7159,0.00,1.95,0.00,0.000,6,0.000,0.026,3547,1392,2075,0,0,0,0,0,0
$GC,7403,1.04,224.1,471.7,9.2,289,7423,0.00,0.00,17.08,0.805,6,0.000,0.000,3547,1395,2005,0,0,0,0,0,0
$GC,7692,1.05,230.2,443.9,9.7,296,7705,0.00,2.15,6.38,0.665,4,0.000,0.060,3547,177,1980,0,0,0,0,0,0
$GC,7758,1.05,230.2,436.7,12.2,297,7762,0.00,1.95,0.00,0.000,6,0.000,0.025,3547,1378,1980,0,0,0,0,0,0
$GC,8030,1.05,230.2,409.1,10.1,304,8034,0.00,2.10,0.00,0.000,4,0.000,0.060,3547,170,1978,0,0,0,0,0,0
$GC,8049,1.05,230.2,407.0,10.4,304,8053,0.00,1.92,0.00,0.000,6,0.000,0.025,3547,1380,1978,0,0,0,0,0,0
$GC,8323,1.05,230.5,379.9,10.0,311,8328,0.10,2.60,0.00,0.000,4,0.078,0.038,3592,2950,1976,0,0,0,0,0,0
$GC,8347,1.05,230.5,377.0,11.0,311,8352,0.10,2.65,0.00,0.000,6,0.117,0.041,3569,1372,1975,0,0,0,0,0,0
$GC,8607,1.07,245.4,351.8,9.3,318,8624,0.00,0.00,14.77,0.728,6,0.000,0.000,3569,1372,1919,0,0,0,0,0,0
$GC,8853,1.07,248.2,327.5,9.9,324,8857,0.00,2.60,0.00,0.000,4,0.000,0.034,3569,2951,1916,0,0,0,0,0,0
$GC,8896,1.15,248.2,322.9,10.6,325,8901,0.00,2.65,0.00,0.000,6,0.000,0.040,3569,1369,1913,0,0,0,0,0,0
$GC,9183,1.17,265.1,295.4,9.2,332,9208,0.10,2.12,18.65,0.700,4,0.077,0.063,3622,167,1838,0,0,0,0,0,0
$GC,9279,1.00,265.1,283.1,14.7,334,9284,0.30,1.92,0.00,0.000,6,0.092,0.024,3558,1387,1838,0,0,0,0,0,0
$GC,9564,1.09,284.7,257.3,9.1,341,9584,0.00,0.00,18.12,0.663,6,0.000,0.000,3558,1389,1759,0,0,0,0,0,0
$GC,9806,1.18,284.7,230.7,11.3,347,9811,0.17,2.55,0.00,0.000,4,0.050,0.029,3633,2958,1755,0,0,0,0,0,0
$GC,9845,1.12,284.7,225.2,14.2,347,9851,0.22,2.62,0.00,0.000,6,0.087,0.037,3584,1375,1753,0,0,0,0,0,0
$GC,10096,1.12,284.7,196.3,11.0,354,10097,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1375,1752,0,0,0,0,0,0
$GC,10349,1.12,284.7,168.6,10.3,378,10353,0.00,1.98,0.00,0.000,4,0.000,0.051,3584,167,1752,0,0,0,0,0,0
$GC,10400,1.12,284.7,162.9,11.1,383,10403,0.00,1.88,0.00,0.000,6,0.000,0.021,3584,1400,1752,0,0,0,0,0,0
$GC,10668,1.12,284.7,137.8,10.0,408,10676,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1402,1752,0,0,0,0,0,0
$GC,10933,1.12,284.7,110.6,10.4,433,10937,0.00,2.40,0.00,0.000,4,0.000,0.026,3584,2934,1752,0,0,0,0,0,0
$GC,10962,1.23,299.7,107.7,9.3,435,10985,0.10,2.58,13.65,0.512,6,0.085,0.035,3640,1356,1696,0,0,0,0,0,0
$GC,11241,1.14,299.7,71.2,12.5,461,11245,0.22,1.98,0.00,0.000,4,0.088,0.047,3590,160,1695,0,0,0,0,0,0
$GC,11289,1.14,299.7,65.8,10.2,465,11293,0.00,1.80,0.00,0.000,6,0.000,0.019,3590,1381,1696,0,0,0,0,0,0
$GC,11562,1.26,318.0,42.6,9.2,490,11588,0.10,2.47,18.10,0.464,4,0.076,0.025,3644,2913,1621,0,0,0,0,0,0
$GC,11616,1.26,318.0,36.4,11.4,494,11621,0.15,2.55,0.00,0.000,6,0.094,0.034,3610,1358,1618,0,0,0,0,0,0
$STATE,11912,end climb,SURFACE_DEPTH_REACHED
$STATE,11912,begin surface coast
$FINISH,0.6,1.023819
$STATE,11951,end surface coast,CONTROL_FINISHED_OK
$STATE,11951,begin surface
$SM_CCo,11975,35.78,0.437,0,0,1368,380.21
$SM_GC,1.57,0.00,0.00,35.78,0.000,0.000,0.437,408,1557,1368,-13.49,0.48,380.21
$IRIDIUM_FIX,2253.38,-15759.74,091001,232306
$TT8_MAMPS,0.027612
$HUMID,62.36
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.20
$XPDR_PINGS,3
$24V_AH,23.5,33.953
$10V_AH,10.0,25.941
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,34.900,131.350,401.375,35.775,0.000,58.801,74.338,324.136,0.750,0.000,17.052,1166.915,8216.982,501.639,1988.838,812.367,33.368,1316.658,0.000,1989.326,0.000,0.538,0.000
$DEVICE_MAMPS,151.866,77.467,929.604,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,367.469,314.348,390.711,574.839,1009.872,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,41395,543
$CAP_FILE_SIZE,134498,0
$CFSIZE,260165632,163643392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160712,022636,2259.002,-15759.877,29,0.8,29,10.1